Image Registration for Printing

1. A system comprising: one or more image sensors; a processor system comprising one or more processors; one or more output devices comprising a printing device configured to apply a graphic on an article; and one or more computer-readable storage media storing computer-executable instructions that when executed by the processing system, cause the system to perform a method of processing an article, the instructions comprising: instructions to receive an image of the article from the one or more image sensors; instructions to determine a location of one or more fiducials in the image of the article; instructions to determine a print location on the article based on the location of the one or more fiducials in the image of the article; and instructions to send a signal to the printing device to print the graphic on the article at the print location.

2. The system of claim 1, further comprising a last configured to support the article within a field of view of at least one image sensor of the one or more image sensors, and wherein the last comprises at least one fiducial of the one or more fiducials.

3. The system of claim 1, wherein the one or more fiducials are attached to the one or more output devices, wherein the system further comprises one or more lasts that are coupled to the one or more output devices and on which the article is disposed, wherein the one or more lasts are configured to position the article with respect to the one or more output devices, and wherein the instructions further comprise: instructions to determine a distance between the one or more fiducials attached to the one or more output devices and the article; and instructions to establish one or more points of reference for the one or more output devices based on a location of the one or more fiducials.

4. The system of claim 3, wherein one or both of: (i) the one or more fiducials are movable relative to the one or more lasts; or (ii) the one or more lasts are movable relative to the one or more fiducials.

5. The system of claim 1, wherein the one or more image sensors comprises a first image sensor and a second image sensor, wherein the first image sensor has a first orientation relative to the article, wherein the second image sensor is spaced from the first image sensor and has a second orientation relative to the article, and wherein the instructions further comprise instructions for generating a three-dimensional image of the article based on a first image generated by the first image sensor and a second image generated by the second image sensor.

6. The system of claim 1, wherein the one or more output devices comprise a print bed.

7. The system of claim 6, wherein at least one fiducial of the one or more fiducials is disposed in the print bed.

8. The system of claim 1, wherein at least one fiducial of the one or more fiducials is a light-responsive fiducial that is visible to the system only under certain lighting conditions, and wherein the system further comprises a light source configured to render the light-responsive fiducial visible to the system.

9. The system of claim 8, wherein the light-responsive fiducial comprises ultraviolet fluorescent material, and wherein the light source comprises an ultraviolet light source.

10. The system of claim 1, wherein the instructions further comprise: instructions to determine a distance from the one or more fiducials to a feature of the article; and instructions to scale the graphic based on the determined distance.

11. A system comprising: one or more image sensors; a processor system comprising one or more processors; a printing device; and one or more computer-readable storage media storing computer-executable instructions that when executed by the processor system, cause the system to perform a method of processing an article, the instructions comprising: instructions to receive an image of the article from the one or more images sensors; instructions to receive a raster or vector graphics file comprising a graphic; instructions to receive a shape model from the one or more computer-readable storage media, the shape model corresponding to a reference article that shares one or more physical attributes with the article; instructions to transform the graphic to produce a transformed graphic based on the image of the article and the shape model; instructions to determine a print location on the article based on one or both of the image of the article and the shape model; and instructions to send a signal to the printing device to print the transformed graphic on the article at the print location.

12. The system of claim 11, wherein the instructions further comprise: instructions to locate a fiducial in the image of the article; and instructions to establish a point of reference for printing on the article using the fiducial, and wherein the instructions to transform the graphic to produce the transformed graphic comprise instructions to transform the graphic at least partially based on the point of reference.

13. The system of claim 11, wherein the reference article has a first size, wherein the article has a second size that is different than the first size, and wherein the instructions to transform the graphic comprise instructions to scale the graphic based on a difference between the first size and the second size.

14. The system of claim 11, wherein the reference article has a first position relative to a coordinate system, wherein the article has a second position relative to the coordinate system, and wherein the instructions to transform the graphic comprise instructions to one or both of translate and rotate the graphic based on a difference between the first position and the second position.

15. The system of claim 11, further comprising a display, and wherein the instructions further comprise instructions to display the shape model on the display.

16. The system of claim 15, wherein the instructions further comprise instructions to display a region of interest of the shape model on the display, the region of interest comprising a fiducial.

17. The system of claim 11, further comprising a display, and wherein the instructions further comprise instructions to display a print bed on which the article is received for printing on the display.

18. The system of claim 11, further comprising a display, and wherein the instructions further comprise instructions to display a manifest of parameters of the shape model on the display.

19. A system comprising: one or more image sensors; a processor system comprising one or more processors; a printing device configured to apply a graphic on an article; and one or more computer-readable storage media storing computer-executable instructions that when executed by the processor system, cause the system to perform a method of processing an article, the instructions comprising: instructions to receive an image of the article from the one or more image sensors; instructions to receive a shape model from the one or more computer-readable storage media, the shape model corresponding to a reference article that shares one or more physical attributes with the article; instructions to receive a configuration file corresponding to the article; instructions to receive a raster or vector graphics file comprising the graphic; instructions to transform the graphic based on the shape model and the configuration file to produce a transformed graphic; and instructions to send a signal to the printing device to print the transformed graphic on the article.

20. The system of claim 19, wherein the instructions further comprise: instructions to provide one or more reference images of the reference article; instructions to generate the shape model based on the one or more reference images of the reference article; instructions to compile a configuration file for the reference article that comprises parameters of the reference article based, at least in part, on a size of the reference article; and instructions to store the shape model and the configuration file in the one or more computer-readable media.